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<div class="header">
  <div class="headertitle"><div class="title">DCM.hpp</div></div>
</div><!--header-->
<div class="contents">
<a href="_d_c_m_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="preprocessor">#include &quot;<a class="code" href="dot_8hpp.html">NumCpp/Functions/dot.hpp</a>&quot;</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="preprocessor">#include &quot;<a class="code" href="round_8hpp.html">NumCpp/Functions/round.hpp</a>&quot;</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="preprocessor">#include &quot;<a class="code" href="det_8hpp.html">NumCpp/Linalg/det.hpp</a>&quot;</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="preprocessor">#include &quot;<a class="code" href="_nd_array_8hpp.html">NumCpp/NdArray.hpp</a>&quot;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="preprocessor">#include &quot;<a class="code" href="_quaternion_8hpp.html">NumCpp/Rotations/Quaternion.hpp</a>&quot;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="preprocessor">#include &quot;<a class="code" href="essentially_equal_8hpp.html">NumCpp/Utils/essentiallyEqual.hpp</a>&quot;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="preprocessor">#include &quot;<a class="code" href="_vec3_8hpp.html">NumCpp/Vector/Vec3.hpp</a>&quot;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="namespacenc_1_1rotations.html">   38</a></span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacenc_1_1rotations.html">nc::rotations</a></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>{</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <span class="comment">//================================================================================</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_d_c_m.html">   42</a></span><span class="comment"></span>    <span class="keyword">class </span><a class="code hl_class" href="classnc_1_1rotations_1_1_d_c_m.html">DCM</a></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    {</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="keyword">public</span>:</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_d_c_m.html#afede4ed689a9771968945857c7cd0c1d">   55</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#afede4ed689a9771968945857c7cd0c1d">eulerAngles</a>(<span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#ac562518ebdec1ce36cf8897a16f16fca">roll</a>, <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#a726e1d9c5e2a88dbd7e70b8fc9d55fbf">pitch</a>, <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#aef0f27b195b93151a94cb86ca9fa21c9">yaw</a>)</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        {</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>            <span class="keywordflow">return</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>(<a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#ac562518ebdec1ce36cf8897a16f16fca">roll</a>, <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#a726e1d9c5e2a88dbd7e70b8fc9d55fbf">pitch</a>, <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#aef0f27b195b93151a94cb86ca9fa21c9">yaw</a>).<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aaf9230af84ef1133ca9483da561b0450">toDCM</a>();</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        }</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_d_c_m.html#a06a1a09ec0bb27c45690afbc08d22f50">   68</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#a06a1a09ec0bb27c45690afbc08d22f50">eulerAngles</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a>&amp; angles)</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        {</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>            <span class="keywordflow">return</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>(angles).<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aaf9230af84ef1133ca9483da561b0450">toDCM</a>();</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        }</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_d_c_m.html#ab72e3514a6022ebea6e63030eb0d2418">   82</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#ab72e3514a6022ebea6e63030eb0d2418">eulerAxisAngle</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a>&amp; inAxis, <span class="keywordtype">double</span> inAngle)</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>        {</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>            <span class="keywordflow">return</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>(inAxis, inAngle).<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aaf9230af84ef1133ca9483da561b0450">toDCM</a>();</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>        }</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_d_c_m.html#a06b61d863ede73a445a5fb6b5a0673a2">   96</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#a06b61d863ede73a445a5fb6b5a0673a2">eulerAxisAngle</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a>&amp; inAxis, <span class="keywordtype">double</span> inAngle)</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>        {</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>            <span class="keywordflow">return</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>(inAxis, inAngle).<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aaf9230af84ef1133ca9483da561b0450">toDCM</a>();</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>        }</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_d_c_m.html#ab1947c7618408b063b704ec391e27888">  109</a></span><span class="comment"></span>        <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#ab1947c7618408b063b704ec391e27888">isValid</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a>&amp; inArray)</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>        {</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>            <span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_shape.html">Shape</a> inShape = inArray.<a class="code hl_function" href="classnc_1_1_nd_array.html#a4824e91b22bb46ebc31c9c08de55ef13">shape</a>();</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>            <span class="keywordflow">return</span> inShape.<a class="code hl_variable" href="classnc_1_1_shape.html#a6f89f699dea6eb89eef19e00c92b223a">rows</a> == inShape.<a class="code hl_variable" href="classnc_1_1_shape.html#aae1a3c997648aacaefb60d0e6d0bf10d">cols</a> &amp;&amp;</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>                   <a class="code hl_function" href="namespacenc_1_1utils.html#a963b90e7c9a3b057a924298750ddf74c">utils::essentiallyEqual</a>(<a class="code hl_function" href="namespacenc.html#af9c0b27b59e8a7be27130c9f470c4ef3">round</a>(linalg::det&lt;double&gt;(inArray), 2), 1.) &amp;&amp;</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>                   <a class="code hl_function" href="namespacenc_1_1utils.html#a963b90e7c9a3b057a924298750ddf74c">utils::essentiallyEqual</a>(<a class="code hl_function" href="namespacenc.html#af9c0b27b59e8a7be27130c9f470c4ef3">round</a>(linalg::det&lt;double&gt;(inArray.<a class="code hl_function" href="classnc_1_1_nd_array.html#a29c62da7ad489f4fc0bc706800820807">transpose</a>()), 2), 1.);</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>        }</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span> </div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_d_c_m.html#ac562518ebdec1ce36cf8897a16f16fca">  124</a></span><span class="comment"></span>        <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#ac562518ebdec1ce36cf8897a16f16fca">roll</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a>&amp; dcm)</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        {</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>            <span class="keywordflow">return</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>(dcm).<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a26f2a9303f0521ee36d92467ab45e3ab">roll</a>();</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>        }</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span> </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_d_c_m.html#a726e1d9c5e2a88dbd7e70b8fc9d55fbf">  136</a></span><span class="comment"></span>        <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#a726e1d9c5e2a88dbd7e70b8fc9d55fbf">pitch</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a>&amp; dcm)</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>        {</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>            <span class="keywordflow">return</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>(dcm).<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a601b444c8c8f820700844d7ab5f743ba">pitch</a>();</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>        }</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_d_c_m.html#aef0f27b195b93151a94cb86ca9fa21c9">  148</a></span><span class="comment"></span>        <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#aef0f27b195b93151a94cb86ca9fa21c9">yaw</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a>&amp; dcm)</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>        {</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>            <span class="keywordflow">return</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>(dcm).<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5b5cef534a39badf5d3079ee642e675c">yaw</a>();</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>        }</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_d_c_m.html#a1c5d11f29221326e532335cc5fe01906">  161</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#a1c5d11f29221326e532335cc5fe01906">xRotation</a>(<span class="keywordtype">double</span> inAngle)</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        {</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#ab72e3514a6022ebea6e63030eb0d2418">DCM::eulerAxisAngle</a>(<a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a>{ 1., 0., 0. }, inAngle);</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>        }</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span> </div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_d_c_m.html#a178b8bf61941070bd629263312b627dd">  174</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#a178b8bf61941070bd629263312b627dd">yRotation</a>(<span class="keywordtype">double</span> inAngle)</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>        {</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#ab72e3514a6022ebea6e63030eb0d2418">DCM::eulerAxisAngle</a>(<a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a>{ 0., 1., 0. }, inAngle);</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        }</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span> </div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_d_c_m.html#a626b0bd2a3cf54e958f5c4d89b3c843b">  187</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#a626b0bd2a3cf54e958f5c4d89b3c843b">zRotation</a>(<span class="keywordtype">double</span> inAngle)</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>        {</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_d_c_m.html#ab72e3514a6022ebea6e63030eb0d2418">DCM::eulerAxisAngle</a>(<a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a>{ 0., 0., 1. }, inAngle);</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>        }</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>    };</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>} <span class="comment">// namespace nc::rotations</span></div>
<div class="ttc" id="a_nd_array_8hpp_html"><div class="ttname"><a href="_nd_array_8hpp.html">NdArray.hpp</a></div></div>
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<div class="ttc" id="aclassnc_1_1_nd_array_html"><div class="ttname"><a href="classnc_1_1_nd_array.html">nc::NdArray&lt; double &gt;</a></div></div>
<div class="ttc" id="aclassnc_1_1_nd_array_html_a29c62da7ad489f4fc0bc706800820807"><div class="ttname"><a href="classnc_1_1_nd_array.html#a29c62da7ad489f4fc0bc706800820807">nc::NdArray::transpose</a></div><div class="ttdeci">self_type transpose() const</div><div class="ttdef"><b>Definition:</b> NdArrayCore.hpp:4882</div></div>
<div class="ttc" id="aclassnc_1_1_nd_array_html_a4824e91b22bb46ebc31c9c08de55ef13"><div class="ttname"><a href="classnc_1_1_nd_array.html#a4824e91b22bb46ebc31c9c08de55ef13">nc::NdArray::shape</a></div><div class="ttdeci">const Shape &amp; shape() const noexcept</div><div class="ttdef"><b>Definition:</b> NdArrayCore.hpp:4511</div></div>
<div class="ttc" id="aclassnc_1_1_shape_html"><div class="ttname"><a href="classnc_1_1_shape.html">nc::Shape</a></div><div class="ttdoc">A Shape Class for NdArrays.</div><div class="ttdef"><b>Definition:</b> Core/Shape.hpp:41</div></div>
<div class="ttc" id="aclassnc_1_1_shape_html_a6f89f699dea6eb89eef19e00c92b223a"><div class="ttname"><a href="classnc_1_1_shape.html#a6f89f699dea6eb89eef19e00c92b223a">nc::Shape::rows</a></div><div class="ttdeci">uint32 rows</div><div class="ttdef"><b>Definition:</b> Core/Shape.hpp:44</div></div>
<div class="ttc" id="aclassnc_1_1_shape_html_aae1a3c997648aacaefb60d0e6d0bf10d"><div class="ttname"><a href="classnc_1_1_shape.html#aae1a3c997648aacaefb60d0e6d0bf10d">nc::Shape::cols</a></div><div class="ttdeci">uint32 cols</div><div class="ttdef"><b>Definition:</b> Core/Shape.hpp:45</div></div>
<div class="ttc" id="aclassnc_1_1_vec3_html"><div class="ttname"><a href="classnc_1_1_vec3.html">nc::Vec3</a></div><div class="ttdoc">Holds a 3D vector.</div><div class="ttdef"><b>Definition:</b> Vec3.hpp:51</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_d_c_m_html"><div class="ttname"><a href="classnc_1_1rotations_1_1_d_c_m.html">nc::rotations::DCM</a></div><div class="ttdoc">Factory methods for generating direction cosine matrices and vectors.</div><div class="ttdef"><b>Definition:</b> DCM.hpp:43</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_d_c_m_html_a06a1a09ec0bb27c45690afbc08d22f50"><div class="ttname"><a href="classnc_1_1rotations_1_1_d_c_m.html#a06a1a09ec0bb27c45690afbc08d22f50">nc::rotations::DCM::eulerAngles</a></div><div class="ttdeci">static NdArray&lt; double &gt; eulerAngles(const NdArray&lt; double &gt; &amp;angles)</div><div class="ttdef"><b>Definition:</b> DCM.hpp:68</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_d_c_m_html_a06b61d863ede73a445a5fb6b5a0673a2"><div class="ttname"><a href="classnc_1_1rotations_1_1_d_c_m.html#a06b61d863ede73a445a5fb6b5a0673a2">nc::rotations::DCM::eulerAxisAngle</a></div><div class="ttdeci">static NdArray&lt; double &gt; eulerAxisAngle(const Vec3 &amp;inAxis, double inAngle)</div><div class="ttdef"><b>Definition:</b> DCM.hpp:96</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_d_c_m_html_a178b8bf61941070bd629263312b627dd"><div class="ttname"><a href="classnc_1_1rotations_1_1_d_c_m.html#a178b8bf61941070bd629263312b627dd">nc::rotations::DCM::yRotation</a></div><div class="ttdeci">static NdArray&lt; double &gt; yRotation(double inAngle)</div><div class="ttdef"><b>Definition:</b> DCM.hpp:174</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_d_c_m_html_a1c5d11f29221326e532335cc5fe01906"><div class="ttname"><a href="classnc_1_1rotations_1_1_d_c_m.html#a1c5d11f29221326e532335cc5fe01906">nc::rotations::DCM::xRotation</a></div><div class="ttdeci">static NdArray&lt; double &gt; xRotation(double inAngle)</div><div class="ttdef"><b>Definition:</b> DCM.hpp:161</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_d_c_m_html_a626b0bd2a3cf54e958f5c4d89b3c843b"><div class="ttname"><a href="classnc_1_1rotations_1_1_d_c_m.html#a626b0bd2a3cf54e958f5c4d89b3c843b">nc::rotations::DCM::zRotation</a></div><div class="ttdeci">static NdArray&lt; double &gt; zRotation(double inAngle)</div><div class="ttdef"><b>Definition:</b> DCM.hpp:187</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_d_c_m_html_a726e1d9c5e2a88dbd7e70b8fc9d55fbf"><div class="ttname"><a href="classnc_1_1rotations_1_1_d_c_m.html#a726e1d9c5e2a88dbd7e70b8fc9d55fbf">nc::rotations::DCM::pitch</a></div><div class="ttdeci">static double pitch(const NdArray&lt; double &gt; &amp;dcm)</div><div class="ttdef"><b>Definition:</b> DCM.hpp:136</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_d_c_m_html_ab1947c7618408b063b704ec391e27888"><div class="ttname"><a href="classnc_1_1rotations_1_1_d_c_m.html#ab1947c7618408b063b704ec391e27888">nc::rotations::DCM::isValid</a></div><div class="ttdeci">static bool isValid(const NdArray&lt; double &gt; &amp;inArray)</div><div class="ttdef"><b>Definition:</b> DCM.hpp:109</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_d_c_m_html_ab72e3514a6022ebea6e63030eb0d2418"><div class="ttname"><a href="classnc_1_1rotations_1_1_d_c_m.html#ab72e3514a6022ebea6e63030eb0d2418">nc::rotations::DCM::eulerAxisAngle</a></div><div class="ttdeci">static NdArray&lt; double &gt; eulerAxisAngle(const NdArray&lt; double &gt; &amp;inAxis, double inAngle)</div><div class="ttdef"><b>Definition:</b> DCM.hpp:82</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_d_c_m_html_ac562518ebdec1ce36cf8897a16f16fca"><div class="ttname"><a href="classnc_1_1rotations_1_1_d_c_m.html#ac562518ebdec1ce36cf8897a16f16fca">nc::rotations::DCM::roll</a></div><div class="ttdeci">static double roll(const NdArray&lt; double &gt; &amp;dcm)</div><div class="ttdef"><b>Definition:</b> DCM.hpp:124</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_d_c_m_html_aef0f27b195b93151a94cb86ca9fa21c9"><div class="ttname"><a href="classnc_1_1rotations_1_1_d_c_m.html#aef0f27b195b93151a94cb86ca9fa21c9">nc::rotations::DCM::yaw</a></div><div class="ttdeci">static double yaw(const NdArray&lt; double &gt; &amp;dcm)</div><div class="ttdef"><b>Definition:</b> DCM.hpp:148</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_d_c_m_html_afede4ed689a9771968945857c7cd0c1d"><div class="ttname"><a href="classnc_1_1rotations_1_1_d_c_m.html#afede4ed689a9771968945857c7cd0c1d">nc::rotations::DCM::eulerAngles</a></div><div class="ttdeci">static NdArray&lt; double &gt; eulerAngles(double roll, double pitch, double yaw)</div><div class="ttdef"><b>Definition:</b> DCM.hpp:55</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html">nc::rotations::Quaternion</a></div><div class="ttdoc">Holds a unit quaternion.</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:56</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a26f2a9303f0521ee36d92467ab45e3ab"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a26f2a9303f0521ee36d92467ab45e3ab">nc::rotations::Quaternion::roll</a></div><div class="ttdeci">double roll() const noexcept</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:402</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a5b5cef534a39badf5d3079ee642e675c"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a5b5cef534a39badf5d3079ee642e675c">nc::rotations::Quaternion::yaw</a></div><div class="ttdeci">double yaw() const noexcept</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:607</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a601b444c8c8f820700844d7ab5f743ba"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a601b444c8c8f820700844d7ab5f743ba">nc::rotations::Quaternion::pitch</a></div><div class="ttdeci">double pitch() const noexcept</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:370</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_aaf9230af84ef1133ca9483da561b0450"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#aaf9230af84ef1133ca9483da561b0450">nc::rotations::Quaternion::toDCM</a></div><div class="ttdeci">NdArray&lt; double &gt; toDCM() const</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:549</div></div>
<div class="ttc" id="adet_8hpp_html"><div class="ttname"><a href="det_8hpp.html">det.hpp</a></div></div>
<div class="ttc" id="adot_8hpp_html"><div class="ttname"><a href="dot_8hpp.html">dot.hpp</a></div></div>
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<div class="ttc" id="anamespacenc_1_1rotations_html"><div class="ttname"><a href="namespacenc_1_1rotations.html">nc::rotations</a></div><div class="ttdef"><b>Definition:</b> DCM.hpp:39</div></div>
<div class="ttc" id="anamespacenc_1_1utils_html_a963b90e7c9a3b057a924298750ddf74c"><div class="ttname"><a href="namespacenc_1_1utils.html#a963b90e7c9a3b057a924298750ddf74c">nc::utils::essentiallyEqual</a></div><div class="ttdeci">bool essentiallyEqual(dtype inValue1, dtype inValue2) noexcept</div><div class="ttdef"><b>Definition:</b> essentiallyEqual.hpp:49</div></div>
<div class="ttc" id="anamespacenc_html_af9c0b27b59e8a7be27130c9f470c4ef3"><div class="ttname"><a href="namespacenc.html#af9c0b27b59e8a7be27130c9f470c4ef3">nc::round</a></div><div class="ttdeci">dtype round(dtype inValue, uint8 inDecimals=0)</div><div class="ttdef"><b>Definition:</b> round.hpp:45</div></div>
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